CN203740002U

CN203740002U - Swing arm type tracked robot

Info

Publication number: CN203740002U
Application number: CN201320812373.XU
Authority: CN
Inventors: 金维; 秦建军; 刘承荣; 柳珊; 武伯有; 袁齐
Original assignee: Beijing University of Civil Engineering and Architecture
Current assignee: Beijing University of Civil Engineering and Architecture
Priority date: 2013-12-12
Filing date: 2013-12-12
Publication date: 2014-07-30
Anticipated expiration: 2023-12-12

Abstract

The utility model discloses a swing arm type tracked robot. In order to realize that the robot can walks forwards normally in a complex pavement environment, swing arms with small wheels are additionally mounted, and the purpose of assisting the robot body to pass through complex pavements under the driving of independent motors is realized; as mentioned above, the robot can walk forwards in different modes, and has various movement solutions for passing through paths with different barriers.

Description

Swing arm type caterpillar robot

Technical field

The utility model relates to a kind of crawler belt of realizing and advances and the wheeled robot of advancing and mutually switching.

Background technology

Along with scientific and technological development, and the world is to more the taking good care of yourself of human resources, and the development of robot is unquestionable.But, common robot there is no too strong adaptive capacity aspect the combination that adapts to complex environment and advance at a high speed in smooth-riding surface, conversion, substantially all adopt the wheeled or single mode of advancing of crawler-mounted, and the robot of bionic type is also at development phase, and, its complex structure, volume is large, very flexible, is unsuitable for adapting to the robot of multiple environment.

Utility model content

Based on the above, it is a kind of that the purpose of this utility model is to provide, can overcome Various Complex road surface, the flexible robot with the swing arm of steamboat that installs additional that is applicable to the multiple common scene that even happens suddenly, by the swing of robot swinging arm, realize and carry out advancing of effective obstacle detouring in comparatively smooth common ground or complex-terrain, multiple thereby realization is adapted to, is applicable to by a robot, the scrnario operation of conversion.

The utility model solves the technical scheme that its technical matters adopts:

Install the caterpillar type robot assembly with the swing arm of steamboat additional, comprise body, crawler belt, front-wheel, trailing wheel, swing arm, steamboat, described fuselage interior is useful on the front turbin generator that drives front-wheel, drive the rear-wheel motor of trailing wheel, with the swing arm motor that drives swing arm, the dead front end both sides that are arranged in body of described front-wheel and axle sleeve, the dead both sides, rear end that are arranged in body of trailing wheel and axle sleeve, described crawler belt overlays on both sides front-wheel and trailing wheel, swing arm tail end respectively with the dead outside that is arranged in front-wheel and trailing wheel of axle, described each swing arm head end and little turbin generator are connected, steamboat is dead on the output shaft of little turbin generator, described little turbin generator is used for driving steamboat, drive front-wheel to realize the rotation of front-wheel by front turbin generator, rear-wheel motor drives trailing wheel to realize the rotation of trailing wheel, drive swing arm to realize the circle swing of swing arm by swing arm motor, drive steamboat to realize the rotation of steamboat by steamboat motor, make to overlay on the caterpillar drive on front-wheel and trailing wheel by the rotation of front-wheel and trailing wheel.

Compared with prior art, the utility model has the advantage of:

The utility model is driven and has been ensured the motion that overlays on the crawler belt on fuselage two side wheels by four-wheel four axles, thereby further ensure the ability of advancing of fuselage main body, utilize and can realize circle swing to the driving of four swing arms, and the steamboat that in addition can turn round by individual motor, improve the obstacle climbing ability of body, ensured the body ability of advancing in all cases.

Brief description of the drawings:

Fig. 1 is the master drawing of overlooking of the present utility model;

Fig. 2 is driving of the present utility model, drive mechanism;

Fig. 3 is overall transmission layout of the present utility model;

Fig. 4 is to be normal condition figure of the present utility model;

Fig. 5 to Figure 11 is the substep constitution diagram of the utility model in the time topping bar.

Label in accompanying drawing 1～accompanying drawing 5: 1 fuselage, 2 crawler belts, 3 front-wheels, 4 trailing wheels, 5 swing arms, 6 steamboats, 7 front turbin generators, 8 swing arm motors, 9 little turbin generators, 10 rear-wheel motors, 11 axle sleeves, 12 axles.

Detailed description of the invention:

Referring to Fig. 1～Fig. 5, swing arm type caterpillar robot, drive front-wheel 3 to realize the rotation of front-wheel 3 by front turbin generator 7, rear-wheel motor 10 drives trailing wheel 4 to realize the rotation of trailing wheel 4, drive swing arm 5 to realize the circle swing of swing arm 5 by swing arm motor 8, drive steamboat 6 to realize the rotation of steamboat 6 by steamboat motor 9, by the rotation of front-wheel 3 and trailing wheel 4, the crawler belt 2 overlaying on front-wheel 3 and trailing wheel 4 is moved, and then realize substantially moving of body 1, by realizing circle swing to the driving of four swing arms 5, and in addition by the steamboat 6 that independently steamboat motor 9 can turn round, improve the obstacle climbing ability of body 1, in the time running into step obstacle, there is following two schemes:

As Fig. 6, Figure 10, shown in Figure 11, can drive swing arm 5 that body 1 is propped by swing arm motor 8;

As Fig. 7, Fig. 8, Fig. 9 also can make swing arm 5 ride on obstacle, drives swing arm 5 to lift body 1, then by driving front-wheel 3, trailing wheel 4 rolls the crawler belt 2 overlaying on body 1 both sides front-wheel 3 and trailing wheel 4, to pass through obstacle.

On level land or Shashi on the ground, the swing arm 5 of four of front and back is lifted, and only drives crawler belt 2 to advance by front-wheel 3 and trailing wheel 4, described steamboat 6 plays guarantee obstacle detouring by the driving of steamboat motor 9 in robot traveling process, assists the effect of action.

Claims

1. swing arm type caterpillar robot assembly, comprise body (1), crawler belt (2), front-wheel (3), trailing wheel (4), swing arm (5), steamboat (6), fuselage (1) inside is useful on the front turbin generator (7) that drives front-wheel (3), drive the rear-wheel motor (10) of trailing wheel (4), with the swing arm motor (8) that drives swing arm (5), described front-wheel (3) and the dead front end both sides that are arranged in body (1) of axle sleeve (11), trailing wheel (4) and the dead both sides, rear end that are arranged in body (1) of axle sleeve (11), described crawler belt (2) overlays on both sides front-wheel (3) and trailing wheel (4), swing arm (5) tail end respectively with the dead outside that is arranged in front-wheel (3) and trailing wheel (4) of axle 2 (12), described each swing arm (5) head end and little turbin generator (9) are connected, steamboat (6) is dead on the output shaft of little turbin generator (9), described little turbin generator (9) is for driving steamboat (6).

2. swing arm type caterpillar robot assembly according to claim 1, drive front-wheel (3) to realize the rotation of front-wheel (3) by front turbin generator (7), rear-wheel motor (10) drives trailing wheel (4) to realize the rotation of trailing wheel (4), drive swing arm (5) to realize the circle swing of swing arm (5) by swing arm motor (8), drive steamboat (6) to realize the rotation of steamboat (6) by little turbin generator (9).

3. swing arm type caterpillar robot assembly according to claim 2, makes to overlay on crawler belt (2) motion on front-wheel (3) and trailing wheel (4) by the rotation of front-wheel (3) and trailing wheel (4).